Time-optimal path planning for sea-surface vehicles under the effects of strong currents and winds

A path-planning methodology that takes into account sea state fields, specifically wind forcing, is discussed and exemplified in this thesis. This general methodology has been explored by the Multidisciplinary Simulation, Estimation, and Assimilation Systems group (MSEAS) at MIT, however this is the first instance of wind effects being taken into account. Previous research explored vessels and isotropy, where the nominal speed of the vessel is uniform in all directions. This thesis explores the non-isotropic case, where the maximum speed of the vessel varies with direction, such as a sailboat. Our goal in this work is to predict the time-optimal path between a set of coordinates, taking into account flow currents and wind speeds. This thesis reviews the literature on a modified level set method that governs the path in any continuous flow to minimize travel time. This new level set method, pioneered by MSEAS, evolves a front from the starting coordinate until any point on that front reaches the destination. The vehicles optimal path is then gained by solving a particle back tracking equation. This methodology is general and applicable to any vehicle, ranging from underwater vessels to aircraft, as it rigorously takes into account the advection effects due to any type of environmental flow fields such as time-dependent currents and dynamic wind fields.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2014

Author dc:creator

• Hessels, Benjamin D

Advisor dc:contributor.advisor

• Pierre Lermusiaux.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/92185

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/92185